9#ifndef CRejectionSamplingRangeOnlyLocalization_H
10#define CRejectionSamplingRangeOnlyLocalization_H
59 bool autoCheckAngleRanges =
true);
85 TDataPerBeacon() : sensorOnRobot(), beaconPosition(), radiusAtRobotPlane(0),minAngle(0),maxAngle(0)
A base class for implementing rejection sampling in a generic state space.
A class for storing a map of 3D probabilistic landmarks.
Declares a class derived from "CObservation" that represents one (or more) range measurements to labe...
A class used to store a 2D pose.
An implementation of rejection sampling for generating 2D robot pose from range-only measurements wit...
std::deque< TDataPerBeacon > m_dataPerBeacon
Data for each beacon observation with a correspondence with the map.
float m_z_robot
Z coordinate of the robot.
void RS_drawFromProposal(mrpt::poses::CPose2D &outSample)
Generates one sample, drawing from some proposal distribution.
double RS_observationLikelihood(const mrpt::poses::CPose2D &x)
Returns the NORMALIZED observation likelihood (linear, not exponential!!!) at a given point of the st...
mrpt::poses::CPose2D m_oldPose
bool setParams(const mrpt::maps::CLandmarksMap &beaconsMap, const mrpt::obs::CObservationBeaconRanges &observation, float sigmaRanges, const mrpt::poses::CPose2D &oldPose, float robot_z=0, bool autoCheckAngleRanges=true)
The parameters used in the generation of random samples:
size_t m_drawIndex
The index in "m_dataPerBeacon" used to draw samples (the rest will be used to evaluate the likelihood...
CRejectionSamplingRangeOnlyLocalization()
Constructor.
virtual ~CRejectionSamplingRangeOnlyLocalization()
Destructor.
mrpt::maps::CLandmarksMap CLandmarksMap
Backward compatible typedef.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Data for each beacon observation with a correspondence with the map.
mrpt::math::TPoint2D beaconPosition
mrpt::math::TPoint3D sensorOnRobot